基于ADRC的电力巡检多旋翼无人机姿态控制研究

Research on attitude control of power patrol multi-rotor UAV based on ADRC

文章针对多旋翼无人机电力巡检过程中,利用ADRC解决位置和姿态的控制问题。以四旋翼无人机为例,在建立运动模型的基础上,对四旋翼无人机高度和各姿态角通道分别使用ADRC单独控制;在Matlab中搭建模型结构,本研究进行了基于ADRC算法的四旋翼无人机高度和姿态仿真实验。实验结果达到预期目标,算法控制效果良好。

In this paper,ADRC is used to solve the problem of position and attitude control in the electric inspection process of multi-rotor UAV.Taking the quadrotor UAV as an example,on the basis of establishing the motion model,the height and attitude angle channels of the quadrotor UAV are separately controlled by ADRC.The model structure is built in Matlab,and the altitude and attitude simulation experiments of quadrotor UAV based on ADRC algorithm are carried out.The experimental results achieve the expected goal,and the algorithm control effect is good.